CN113246937B - Intelligent hydraulic auxiliary braking system for heavy commercial vehicle and control method - Google Patents

Intelligent hydraulic auxiliary braking system for heavy commercial vehicle and control method Download PDF

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Publication number
CN113246937B
CN113246937B CN202110686585.7A CN202110686585A CN113246937B CN 113246937 B CN113246937 B CN 113246937B CN 202110686585 A CN202110686585 A CN 202110686585A CN 113246937 B CN113246937 B CN 113246937B
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braking
vehicle
control
air
working
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CN113246937A (en
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刘春宝
杨孔华
钱旭
唐钰骁
金开雕
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T10/00—Control or regulation for continuous braking making use of fluid or powdered medium, e.g. for use when descending a long slope
    • B60T10/02—Control or regulation for continuous braking making use of fluid or powdered medium, e.g. for use when descending a long slope with hydrodynamic brake
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B60T13/14—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
    • B60T13/141—Systems with distributor valve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B60T13/14—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
    • B60T13/148—Arrangements for pressure supply
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)
  • Transmission Of Braking Force In Braking Systems (AREA)
  • Braking Arrangements (AREA)

Abstract

The invention relates to an intelligent hydraulic auxiliary braking system and a control method for a heavy commercial vehicle, which solve the problems that the hydraulic auxiliary braking system of the commercial vehicle is difficult to exert the braking performance under the working conditions of full speed and long downhill, the existing auxiliary braking system and the control method are poor in accuracy, and the technical realization and use cost is high. The device integrates the advantages of a hydraulic retarder with high braking efficiency and a quick-response electromechanical-electro-hydraulic control system, and designs a double-regulation intelligent hydraulic auxiliary system. The judgment of the vehicle braking working condition is realized through a road identification system and a vehicle information acquisition system. The ECU controller dynamically adjusts the inlet control air pressure and the outlet throttle valve of the auxiliary system according to the braking condition of the vehicle, and changes the maximum braking power and the response time of the auxiliary braking system, so that the hydraulic auxiliary braking system is always matched with an optimal area along with the change of the braking condition, the intelligent advantage of the auxiliary braking system is fully exerted, and the safety and the economical efficiency of the vehicle in operation are improved.

Description

Intelligent hydraulic auxiliary braking system for heavy commercial vehicle and control method
Technical Field
The invention belongs to the technical field of vehicle braking, and relates to an intelligent hydraulic auxiliary braking system of a heavy commercial vehicle and a control method.
Background
Commercial vehicles are an important means of transport and are widely used in the process of transporting people and goods from long distances. According to statistics in the field of public transportation, 31% of expressways in China are built on mountains, hills and plateaus, and the long downhill sections can exist on roads in the sections determined by objective terrain conditions, even continuous downhill sections of several kilometers or even dozens of kilometers can exist in some areas, and frequent or continuous braking is needed when vehicles run on the downhill sections. Since most commercial vehicles are heavy vehicles, they require a large braking power when continuously decelerating over a long distance.
If the traditional friction braking is adopted to convert the reduced kinetic energy into heat energy, because the temperature in the braking process is higher, the braking system is easy to generate a heat fading phenomenon, the braking safety can not be ensured, and the energy can not be recovered or recycled. The conventional hydraulic auxiliary brake system usually has a simple control mode and is difficult to simultaneously meet the braking requirements under different working conditions.
Disclosure of Invention
The invention mainly solves the problems that the hydraulic auxiliary braking system of a heavy commercial vehicle has poor braking performance, the conventional auxiliary braking system and control method have poor accuracy and high technical implementation and use cost.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a heavy commercial car intelligence hydraulic auxiliary brake system, includes brake output shaft and ECU controller, its characterized in that: a rotor is arranged at one end of the brake output shaft, a stator is arranged corresponding to the rotor, a working cavity is arranged in the stator, the working cavity of the stator is provided with an oil inlet and an oil outlet, the oil inlet is connected with an oil tank, the oil tank is connected with an air storage tank through an air pressure control valve bank, a pressure sensor is further arranged in the oil tank, and the pressure sensor and the air pressure control valve bank are both connected with an ECU (electronic control unit); the oil outlet is connected to the oil tank sequentially through the adjustable throttle valve, the one-way valve and the heat exchanger, a temperature sensor is further arranged between the oil outlet and the heat exchanger, the adjustable throttle valve and the temperature sensor are connected with the ECU controller, and the ECU controller is further connected with the brake gear switch.
Preferably, the air storage tank is connected with an air pump motor, and the air pump motor is connected with the ECU controller.
Preferably, the pneumatic control valve group is sequentially provided with a starting switch valve, a pneumatic proportional pressure control valve and a quick discharge valve from the gas storage tank to the oil tank, the quick discharge valve is a three-way valve, a third port of the quick discharge valve is connected with a pneumatic supplementing device, and a one-way pressure valve is further arranged between the pneumatic supplementing device and the oil tank.
Preferably, the temperature sensor is disposed between the check valve and the heat exchanger.
Preferably, the oil inlet and the oil outlet are provided with flow sensors.
Preferably, the vehicle information acquisition system also comprises a road identification system which is connected with the ECU controller and is used for acquiring road information and a vehicle information acquisition system for acquiring vehicle information, and the ECU controller is also provided with a calculation and control module.
An intelligent hydraulic auxiliary brake control method for a heavy commercial vehicle comprises the following steps:
step 1, a road identification system collects road surface driving information, collects road gradient signals and road surface adhesion coefficient signals and transmits the road gradient signals and the road surface adhesion coefficient signals to a calculation and control module of an ECU (electronic control unit) controller;
step 2, the vehicle information acquisition system acquires the running speed and the whole vehicle weight of the vehicle and transmits the running speed and the whole vehicle weight to a calculation and control module of the ECU controller; the pressure sensor and the temperature sensor acquire an oil pressure feedback signal of an oil tank and an oil temperature feedback signal of return flow of the working cavity, and the flow sensor acquires oil inlet quantity and oil outlet quantity signals of the working cavity of the stator and transmits the signals to the calculation and control module of the ECU controller;
step 3, the ECU controller carries out vehicle dynamics calculation under the braking working condition according to the collected information, and judges the deceleration braking mode of the hydraulic auxiliary braking system under the deceleration braking working condition;
step 4, according to the brake mode selection in the step 3, the hydraulic auxiliary brake system is started to work, the air pressure of an inlet oil tank and the opening of an outlet adjustable throttle valve of the working cavity are controlled, and brake torque is output on the premise that the safety of the cooling system is guaranteed;
and 5, continuously monitoring vehicle information in the braking process, and when the running vehicle speed is less than the target vehicle speed, switching the hydraulic auxiliary system to a constant-speed running working condition to maintain the target vehicle speed to run and enter a constant-speed mode.
Preferably, in step 3, the overall vehicle dynamics is calculated and expressed as:
ma＝Gx-FR-FLx-Tr
wherein G isxThe component force of the vehicle weight in the driving direction; fRIs rolling resistance; fLxIs wind resistance; t isrBraking the equivalent braking force of the torque at the wheel end for the hydraulic retarder;
Gx＝G·sinθ
FR＝mg·fR
fR＝7.6×10-3+5.6×10-5va
Figure GDA0003367045050000041
wherein G is the vehicle weight; theta is the vehicle running gradient; f. ofRIs the rolling power factor; v. ofaIs the vehicle speed, and the unit is Km/h; cDIs the wind resistance coefficient; a is the windward area; rhoairIs the air density; equation one is obtained: ma-mg sin theta-FR-Flx-Tr
Wherein, TrCan be expressed as equation two:
Figure GDA0003367045050000042
wherein q is0Can be expressed as equation three: q. q.s0＝∫(Qin-Qout)dt/Vc
Wherein q is0Is the filling rate of the working chamber; lambda is the hydraulic coefficient of the hydraulic auxiliary system; rhooilThe medium density of the working fluid; g is the acceleration of gravity; n isrThe rotating speed of the brake shaft; d is the maximum circular radius of the working cavity; qin、QoutThe flow rate of an inlet and an outlet of the working cavity; vcIs the stator working chamber volume;
in step 4, the inlet flow Q of the working cavity is controlled by controlling the air pressure of the oil tankinControlling the outlet flow Q of the working chamber by controlling the opening of the adjustable throttle valveout。
Preferably, the deceleration braking mode in step 3 includes three modes:
the Mode1 is based on the initial deceleration Mode of cold start, when the vehicle is in a high-speed running state, the hydraulic auxiliary brake system is in a cold start stage, the ECU controller (2) controls to open the start switch valve, adjusts the pneumatic proportional pressure control valve (4), generates a pneumatic control signal (6), and controls the air pressure P of an inlet end oil tank of the stator working cavityairWhen the brake is started, the liquid filling is started to quickly generate brake torque, and in the braking process, the temperature of the working liquid is low, and the liquid filling rate q of the working cavity is high0Low braking energy power less than heat radiation power, inlet PairThe maximum control air pressure of 3.2bar is quickly reached through the combined action of the supplementary air pressure (23) and the air storage tank (26), the opening of the adjustable throttle valve is adjusted to be minimum, and the braking torque balance and the liquid filling rate of the auxiliary system are controlled as follows:
ma＝mg sinθ-FR-Flx-Tr
Figure GDA0003367045050000051
Figure GDA0003367045050000052
the Mode2 is based on the maximum braking energy Mode, the braking energy power is continuously increased along with the increase of the liquid filling rate of the working cavity and is higher than the heat dissipation power, the working liquid temperature is continuously increased, under the working condition, when the working liquid temperature is close to an extreme value that T is less than or equal to 150 ℃, the braking torque output by the auxiliary braking system needs to operate under the premise that the safety of the cooling system is ensured, namely T is less than or equal to 150 ℃, and the heat exchanger thermal design power P of the retardercIs a determining factor for determining the maximum output torque, and in order to improve the heat exchange power of the heat exchanger, the ECU controller (2) outputs a flow adjusting signal (19) to control the adjustable throttle valve (17) to dn+1＝dnThe +2mm stage begins to increase the throttle area of the outlet of the working cavity, the throttle area satisfies that d is less than or equal to 12mm, the heat exchange efficiency of the heat exchanger is improved, and meanwhile, the air pressure P of the oil tank at the inlet end of the working cavity is quickly reduced through the quick exhaust valveairRapidly reducing inlet flow, and adjusting the air pressure P of the oil tank at the inlet end of the working cavity in real time according to the reduction of the rotating speed of the brake shaftairThe inlet flow is gradually increased, so that the braking energy power and the heat dissipation power are in a balanced state, and the braking torque balance and the liquid filling rate of the hydraulic auxiliary system are controlled as follows:
ma＝mg sinθ-FR-Flx-Tr
Figure GDA0003367045050000053
Figure GDA0003367045050000054
the Mode3 is based on the full liquid filling deceleration Mode, the speed of the vehicle is gradually reduced in the rear half section of the deceleration braking, the rotating speed of the output shaft is reduced, and the liquid filling rate in the working cavity is continuously increased until q 01, the heat exchange efficiency of the heat exchanger is not a limiting factor, and in order to ensure that the hydraulic auxiliary braking system keeps the maximum braking power, the ECU controller (2) dynamically outputs an air pressure control signal (6) and a flow regulation signal (19) to control the air pressure PairAnd the filling rate of the working chamber is maintained at q 01, the braking torque balance and the liquid filling rate of the hydraulic auxiliary system are controlled as follows:
ma＝mg sinθ-FR-Flx-Tr
Figure GDA0003367045050000061
q0＝100％。
preferably, in step 5, the constant speed mode is:
mode4, based on the constant deceleration Mode of the target vehicle speed, the brake gear switch sets different gear pairsIn response to different target vehicle speeds vdAfter deceleration braking, vehicle speed va≤vdWhen the vehicle starts a constant speed control strategy, the ECU controller adopts a control strategy of continuously increasing or decreasing the liquid filling rate to adjust the braking torque of the hydraulic auxiliary braking system, and dynamically outputs an air pressure control signal (6) and a flow adjusting signal (19) to control the air pressure PairAnd the correlation with the outlet throttle area d to control the increase and decrease of the liquid filling rate, further control the liquid filling rate to a target, adjust the vehicle speed, and control the balance of the braking torque of the auxiliary system and the liquid filling rate as follows:
ma＝mg sinθ-FR-Flx-Tr＝0
Figure GDA0003367045050000062
Figure GDA0003367045050000063
wherein q is0To the current fill rate, qdIs a target vehicle speed vdCorresponding target fill rate.
The invention dynamically adjusts the inlet control air pressure and the outlet throttle valve of the auxiliary system according to the vehicle braking condition, and changes the maximum braking power and the response time of the auxiliary braking system, thereby realizing that the hydraulic auxiliary braking system is always matched with an optimal area along with the change of the braking condition, fully playing the intelligent advantages of the auxiliary braking system, and improving the safety and the economy of the vehicle in operation.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a block diagram of a fluid assisted brake system of the present invention.
FIG. 2 is a schematic block diagram of an ECU controller of the present invention.
Fig. 3 is a control flow diagram of the present invention.
FIG. 4 is a brake management strategy diagram for a braking mode of the present invention.
FIG. 5 is a graph showing the effect of vehicle speed and braking torque under the braking condition of the present invention.
In the figure: 1. the brake system comprises a brake gear switch, 2, an ECU controller, 3, a pneumatic switch valve, 4, a pneumatic proportional pressure control valve, 5, a quick exhaust valve, 6, an air pressure control signal, 7, an oil tank, 8, a pressure sensor, 9, an oil pressure feedback signal, 10, an oil inlet, 11, a stator, 12, a rotor, 13, a brake output shaft, 14, a stator fixing frame, 15, an oil outlet, 16, an oil pipe, 17, an adjustable throttle valve, 18, a one-way valve, 19, a flow adjusting signal, 20, a temperature sensor, 21, a heat exchanger, 22, an oil temperature feedback signal, 23, an air pressure supplementing device, 24, an air pressure control pipeline, 25, an air pump motor, 26, an air storage tank, 27 and an air pump control signal.
Detailed Description
The invention is further illustrated by the following specific examples in conjunction with the accompanying drawings.
Example (b): the utility model provides a heavy commercial car intelligence hydraulic auxiliary brake system, as shown in figure 1, includes brake output shaft 13 and ECU controller 2, brake output shaft 13 one end sets up rotor 12, corresponds with the rotor and is provided with stator 11, the inside working chamber that is of stator, stator working chamber have oil inlet 10 and oil-out 15, oil inlet 10 and oil-out 15 set up flow sensor. The oil inlet 10 is connected with an oil tank 7, the oil tank 7 is connected with an air storage tank 26 through a pneumatic control valve group, the air storage tank 26 is connected with an air pump motor 25 for inflating the air storage tank, and the air pump motor is connected with the ECU controller 2. A pressure sensor 8 is also arranged in the oil tank 7, and the pressure sensor and the air pressure control valve group are both connected with the ECU controller 2; the oil outlet 15 is connected to the oil tank 7 sequentially through an adjustable throttle valve 17, a one-way valve 18 and a heat exchanger 21, a temperature sensor 20 is further arranged between the one-way valve 18 and the heat exchanger 21, the adjustable throttle valve 17 and the temperature sensor 20 are connected with the ECU controller 2, and the ECU controller 2 is further connected with a brake gear switch 1. The brake gear switch 1 comprises 5 gears, and when the brake gear switch is in a 0-gear position, the target vehicle speed is set to be 0Km/h, so that the brake gear switch is suitable for the full-speed brake working condition of the heavy-duty vehicle; when the gear switch is braked to shift 1, the target speed is set to be 15Km/h, and the method is suitable for the braking working condition of long-slope and low-speed running of heavy vehicles; when the gear switch is braked to the 2 gear, the target speed is set to be 30Km/h, and the method is suitable for the braking working condition of long slope descending and medium-speed running of heavy vehicles; when the brake gear switch is in a 3-gear state, the target speed is set to be 45Km/h, and the brake gear switch is suitable for the braking working condition of short slope and medium-speed running of heavy vehicles; when the gear switch is braked to the 4-gear position, the target speed is set to be 60Km/h, and the method is suitable for the constant-speed cruising running working condition of the heavy-duty vehicle.
The pneumatic control valve group sets gradually starting switch valve 3, pneumatic proportional pressure control valve 4, quick-release valve 5 from gas holder 26 to oil tank 7, quick-release valve is the three-way valve, and the third port of quick-release valve is connected with atmospheric pressure supplementing device 23, still is equipped with the check pressure valve between atmospheric pressure supplementing device 23 and the oil tank. The one-way pressure valve is opened when the pressure on one side of the pressure supplementing device 23 is higher than the pressure of the oil tank.
The ECU controller 2 is further connected to a road recognition system for collecting road information and a vehicle information collection system for collecting vehicle information, and the ECU controller 2 is further provided with a calculation and control module, which is not shown in the above-mentioned structure diagram 1.
Brake output shaft, rotor, stator constitute hydraulic retarber, when hydraulic retarber goes out the torque, the kinetic energy that the vehicle went turns into the internal energy of working solution, and at this in-process, hydraulic retarber is equivalent to the heater, heats working solution rapidly to turn into the internal energy with kinetic energy, reach the purpose of speed reduction braking.
An intelligent hydraulic auxiliary brake control method for a heavy commercial vehicle is shown in fig. 2 and 3, and the hydraulic auxiliary brake system comprises the following steps:
step 1, a road identification system collects road surface driving information, collects road gradient signals and road surface adhesion coefficient signals, and transmits the road gradient signals and the road surface adhesion coefficient signals to a calculation and control module of an ECU (electronic control unit) controller 2;
step 2, the vehicle information acquisition system acquires the running speed and the whole vehicle weight of the vehicle and transmits the running speed and the whole vehicle weight to a calculation and control module of the ECU controller 2; the pressure sensor and the temperature sensor acquire an oil pressure feedback signal 9 of an oil tank and an oil temperature feedback signal 22 of return flow of a working cavity, and the flow sensor acquires oil inlet quantity and oil outlet quantity signals of the working cavity of the stator and transmits the signals to a calculation and control module of the ECU controller;
step 3, the ECU controller carries out vehicle dynamics calculation under the braking working condition according to the collected information, and judges the deceleration braking mode of the hydraulic auxiliary braking system under the deceleration braking working condition; in step 3, the complete vehicle dynamics is calculated, and the expression is as follows:
ma＝Gx-FR-FLx-Tr
wherein G isxThe component force of the vehicle weight in the driving direction; fRIs rolling resistance; fLxIs wind resistance; t isrBraking the equivalent braking force of the torque at the wheel end for the hydraulic retarder;
Gx＝G·sinθ
FR＝mg·fR
fR＝7.6×10-3+5.6×10-5va
Figure GDA0003367045050000101
wherein G is the vehicle weight; theta is the vehicle running gradient; f. ofRIs the rolling power factor; v. ofaIs the vehicle speed, and the unit is Km/h; cDIs the wind resistance coefficient; a is the windward area; rhoairIs the air density; equation one is obtained: ma-mg sin theta-FR-Flx-Tr
Wherein, TrCan be expressed as equation two:
Figure GDA0003367045050000102
wherein q is0Can be expressed as equation three: q. q.s0＝∫(Qin-Qout)dt/Vc
Wherein q is0Is the filling rate of the working chamber; lambda is the hydraulic coefficient of the hydraulic auxiliary system; rhooilThe medium density of the working fluid; g is the acceleration of gravity; n isrThe rotating speed of the brake shaft; d is the maximum circular radius of the working cavity; qin、QoutThe flow rate of an inlet and an outlet of the working cavity; vcIs the stator working chamber volume;
step 4, according to the braking mode selection of step 3The hydraulic auxiliary brake system is started to work, the air pressure of an inlet oil tank and the opening of an outlet adjustable throttle valve 17 of the working cavity are controlled, and the inlet flow Q of the working cavity is controlled by controlling the air pressure of the oil tankinControlling the outlet flow Q of the working chamber by controlling the opening of the adjustable throttle valveoutOn the premise of ensuring the safety of the cooling system, the brake torque is output;
and 5, continuously monitoring vehicle information in the braking process, and when the running vehicle speed is less than the target vehicle speed, switching the hydraulic auxiliary system to a constant-speed running working condition to maintain the target vehicle speed to run and enter a constant-speed mode.
As shown in fig. 4, the deceleration braking mode in step 3 includes three types:
the Mode1 is based on the initial deceleration Mode of cold start, when the vehicle is in a high-speed running state, the hydraulic auxiliary brake system is in a cold start stage, the ECU controller (2) controls to open the start switch valve (3), adjusts the pneumatic proportional pressure control valve (4), generates a pneumatic control signal (6), and controls the air pressure P of an inlet end oil tank of the stator working cavityairWhen the brake is started, the liquid filling is started to quickly generate brake torque, and in the braking process, the temperature of the working liquid is low, and the liquid filling rate q of the working cavity is high0Low braking energy power less than heat radiation power, inlet PairThe maximum control air pressure is quickly reached to 3.2bar through the combined action of the supplementary air pressure (23) and the air storage tank (26), the opening of the adjustable throttle valve (17) is adjusted to be minimum, and the braking torque balance and the liquid filling rate of the auxiliary system are controlled as follows:
ma＝mg sinθ-FR-Flx-Tr
Figure GDA0003367045050000111
Figure GDA0003367045050000112
the Mode2 is based on the maximum braking energy Mode, the braking energy power is continuously increased along with the increase of the liquid filling rate of the working chamber and is higher than the heat dissipation power, so that the temperature of the working fluid is continuously increased, and under the working condition,when the temperature of the working fluid approaches an extreme value that T is less than or equal to 150 ℃, the braking torque output by the auxiliary braking system needs to operate under the premise of ensuring the safety of the cooling system, namely T is less than or equal to 150 ℃, and the heat exchanger thermal design power P of the retardercIs a determining factor for determining the maximum output torque, and in order to improve the heat exchange power of the heat exchanger, the ECU controller (2) outputs a flow adjusting signal (19) to control the adjustable throttle valve (17) to dn+1＝dnThe +2mm stage begins to increase the throttle area of the outlet of the working cavity, the throttle area satisfies that d is less than or equal to 12mm, the heat exchange efficiency of the heat exchanger is improved, and meanwhile, the air pressure P of the oil tank at the inlet end of the working cavity is quickly reduced through the quick exhaust valveairRapidly reducing inlet flow, and adjusting the air pressure P of the oil tank at the inlet end of the working cavity in real time according to the reduction of the rotating speed of the brake shaftairThe inlet flow is gradually increased, so that the braking energy power and the heat dissipation power are in a balanced state, and the braking torque balance and the liquid filling rate of the hydraulic auxiliary system are controlled as follows:
ma＝mg sinθ-FR-Flx-Tr
Figure GDA0003367045050000113
Figure GDA0003367045050000121
the Mode3 is based on the full liquid filling deceleration Mode, the speed of the vehicle is gradually reduced in the rear half section of the deceleration braking, the rotating speed of the output shaft is reduced, and the liquid filling rate in the working cavity is continuously increased until q 01, the heat exchange efficiency of the heat exchanger is not a limiting factor, and in order to ensure that the hydraulic auxiliary braking system keeps the maximum braking power, the ECU controller (2) dynamically outputs an air pressure control signal (6) and a flow regulation signal (19) to control the air pressure PairAnd the filling rate of the working chamber is maintained at q 01, the braking torque balance and the liquid filling rate of the hydraulic auxiliary system are controlled as follows:
ma＝mg sinθ-FR-Flx-Tr
Figure GDA0003367045050000122
q0＝100％。
in step 5, the constant speed mode is:
mode4, based on the constant deceleration Mode of the target vehicle speed, the brake gear switch sets different gears corresponding to different target vehicle speeds vdAfter deceleration braking, vehicle speed va≤vdWhen the vehicle starts a constant speed control strategy, the ECU controller adopts a control strategy of continuously increasing or decreasing the liquid filling rate to adjust the braking torque of the hydraulic auxiliary braking system, and dynamically outputs an air pressure control signal (6) and a flow adjusting signal (19) to control the air pressure PairAnd the correlation with the outlet throttle area d to control the increase and decrease of the liquid filling rate, further control the liquid filling rate to a target, adjust the vehicle speed, and control the balance of the braking torque of the auxiliary system and the liquid filling rate as follows:
ma＝mg sinθ-FR-Flx-Tr＝0
Figure GDA0003367045050000123
Figure GDA0003367045050000124
wherein q is0To the current fill rate, qdIs a target vehicle speed vdCorresponding target fill rate.
As shown in fig. 5, the vehicle speed and the braking torque effect of the heavy commercial vehicle under the braking condition using the hydraulic auxiliary braking system are analyzed. The running working condition that the vehicle weight is 8t, the gradient is 20 degrees, the running vehicle speed is 60Km/h, and the target vehicle speed is 30Km/h is verified, the maximum braking torque of the system reaches 3200Nm, the duration time of the maximum braking thermal power reaches 0.56s, the response time is shortened to 0.6s, and multiple indexes are greatly improved.

Claims (4)

1. The utility model provides a heavy commercial car intelligence hydraulic auxiliary brake system, includes brake output shaft (13) and ECU controller (2), its characterized in that: a rotor (12) is arranged at one end of the brake output shaft (13), a stator (11) is arranged corresponding to the rotor, a working cavity is arranged inside the stator, the stator working cavity is provided with an oil inlet (10) and an oil outlet (15), the oil inlet (10) is connected with an oil tank (7), the oil tank (7) is connected with an air storage tank (26) through an air pressure control valve bank, a pressure sensor (8) is further arranged in the oil tank (7), and the pressure sensor and the air pressure control valve bank are both connected with an ECU controller (2); the oil outlet (15) is connected to the oil tank (7) sequentially through an adjustable throttle valve (17), a one-way valve (18) and a heat exchanger (21), a temperature sensor (20) is further arranged between the oil outlet (15) and the heat exchanger (21), the adjustable throttle valve (17) and the temperature sensor (20) are connected with the ECU controller (2), and the ECU controller (2) is further connected with a brake gear switch (1); the oil inlet (10) and the oil outlet (15) are provided with flow sensors; the pneumatic control valve group is sequentially provided with a starting switch valve (3), a pneumatic proportional pressure control valve (4) and a quick exhaust valve (5) from a gas storage tank (26) to an oil tank (7), the quick exhaust valve is a three-way valve, a third port of the quick exhaust valve is connected with a pneumatic supplementing device (23), and a one-way pressure valve is arranged between the pneumatic supplementing device (23) and the oil tank; the vehicle information acquisition system is connected with the ECU controller (2) and used for acquiring road information, and the ECU controller (2) is also internally provided with a calculation and control module.
2. The intelligent hydraulic auxiliary braking system for the heavy-duty commercial vehicle as claimed in claim 1, wherein: the air storage tank (26) is connected with an air pump motor (25), and the air pump motor is connected with the ECU controller (2).
3. The intelligent hydraulic auxiliary braking system for the heavy commercial vehicle as claimed in claim 1 or 2, wherein: the temperature sensor (20) is arranged between the non-return valve (18) and the heat exchanger (21).
4. An intelligent hydraulic auxiliary brake control method for a heavy commercial vehicle, which is characterized by using the intelligent hydraulic auxiliary brake system for the heavy commercial vehicle according to claim 1, and comprises the following steps:
step 1, a road identification system collects road surface driving information, collects road gradient signals and road surface adhesion coefficient signals, and transmits the road gradient signals and the road surface adhesion coefficient signals to a calculation and control module of an ECU (electronic control unit) controller (2);
step 2, the vehicle information acquisition system acquires the running speed and the whole vehicle weight of the vehicle and transmits the running speed and the whole vehicle weight to a calculation and control module of the ECU controller (2); the pressure sensor and the temperature sensor acquire an oil pressure feedback signal (9) of an oil tank and an oil temperature feedback signal (22) of return flow of a working cavity, and the flow sensor acquires oil inlet quantity and oil outlet quantity signals of the working cavity of the stator and transmits the signals to the calculation and control module of the ECU controller;
step 3, the ECU controller carries out vehicle dynamics calculation under the braking working condition according to the collected information, and judges the deceleration braking mode of the hydraulic auxiliary braking system under the deceleration braking working condition; in step 3, the complete vehicle dynamics is calculated, and the expression is as follows:
ma＝Gx-FR-FLx-Tr
wherein G isxThe component force of the vehicle weight in the driving direction; fRIs rolling resistance; fLxIs wind resistance; t isrBraking the equivalent braking force of the torque at the wheel end for the hydraulic retarder;
Gx＝G·sinθ
FR＝mg·fR
fR＝7.6×10-3+5.6×10-5va
Figure FDA0003367045040000021
wherein G is the vehicle weight; theta is the vehicle running gradient; f. ofRIs the rolling power factor; v. ofaIs the vehicle speed, and the unit is Km/h; cDIs the wind resistance coefficient; a is the windward area; rhoairIs the air density; equation one is obtained: ma-mgsin theta-FR-Flx-Tr
Wherein, TrCan be expressed as equation two:
Figure FDA0003367045040000031
wherein q is0Can be expressed as equation three: q. q.s0＝∫(Qin-Qout)dt/Vc
Wherein q is0Is the filling rate of the working chamber; lambda is the hydraulic coefficient of the hydraulic auxiliary system; rhooilThe medium density of the working fluid; g is the acceleration of gravity; n isrThe rotating speed of the brake shaft; d is the maximum circular radius of the working cavity; qin、QoutThe flow rate of an inlet and an outlet of the working cavity; vcIs the stator working chamber volume;
the deceleration braking mode in the step 3 comprises three modes:
the Mode1 is based on the initial deceleration Mode of cold start, when the vehicle is in a high-speed running state, the hydraulic auxiliary brake system is in a cold start stage, the ECU controller (2) controls to open the start switch valve (3), adjusts the pneumatic proportional pressure control valve (4), generates a pneumatic control signal (6), and controls the air pressure P of an inlet end oil tank of the stator working cavityairWhen the brake is started, the liquid filling is started to quickly generate brake torque, and in the braking process, the temperature of the working liquid is low, and the liquid filling rate q of the working cavity is high0Low braking energy power less than heat radiation power, inlet PairThe maximum control air pressure is quickly reached to 3.2bar through the combined action of the supplementary air pressure (23) and the air storage tank (26), the opening of the adjustable throttle valve (17) is adjusted to be minimum, and the braking torque balance and the liquid filling rate of the auxiliary system are controlled as follows:
ma＝mgsinθ-FR-Flx-Tr
Figure FDA0003367045040000032
q0＝∫(Qin-Qout)dt/Vc；
the Mode2 is based on the maximum braking energy Mode, the braking energy power is continuously increased along with the increase of the liquid filling rate of the working chamber and is higher than the heat dissipation power, the temperature of the working liquid is continuously increased, under the working condition, when the temperature of the working liquid is close to the extreme value that T is less than or equal to 150 ℃,the braking torque output by the auxiliary braking system needs to be operated under the premise of ensuring the safety of the cooling system, namely T is less than or equal to 150 ℃, and the heat design power P of the heat exchanger of the retardercIs a determining factor for determining the maximum output torque, and in order to improve the heat exchange power of the heat exchanger, the ECU controller (2) outputs a flow adjusting signal (19) to control the adjustable throttle valve (17) to dn+1＝dnThe +2mm stage begins to increase the throttle area of the outlet of the working cavity, the throttle area satisfies that d is less than or equal to 12mm, the heat exchange efficiency of the heat exchanger is improved, and meanwhile, the air pressure P of the oil tank at the inlet end of the working cavity is quickly reduced through the quick exhaust valveairRapidly reducing inlet flow, and adjusting the air pressure P of the oil tank at the inlet end of the working cavity in real time according to the reduction of the rotating speed of the brake shaftairThe inlet flow is gradually increased, so that the braking energy power and the heat dissipation power are in a balanced state, and the braking torque balance and the liquid filling rate of the hydraulic auxiliary system are controlled as follows:
ma＝mgsinθ-FR-Flx-Tr
Figure FDA0003367045040000041
Figure FDA0003367045040000042
the Mode3 is based on the full liquid filling deceleration Mode, the speed of the vehicle is gradually reduced in the rear half section of the deceleration braking, the rotating speed of the output shaft is reduced, and the liquid filling rate in the working cavity is continuously increased until q01, the heat exchange efficiency of the heat exchanger is not a limiting factor, and in order to ensure that the hydraulic auxiliary braking system keeps the maximum braking power, the ECU controller (2) dynamically outputs an air pressure control signal (6) and a flow regulation signal (19) to control the air pressure PairAnd the filling rate of the working chamber is maintained at q01, the braking torque balance and the liquid filling rate of the hydraulic auxiliary system are controlled as follows:
ma＝mgsinθ-FR-Flx-Tr
Figure FDA0003367045040000043
q0＝100％；
step 4, according to the braking mode selection in the step 3, the hydraulic auxiliary braking system is started to work, the air pressure of an inlet oil tank of the working cavity and the opening of an outlet adjustable throttle valve (17) are controlled, and on the premise that the safety of the cooling system is guaranteed, braking torque is output; control of working chamber inlet flow Q by controlling oil tank air pressureinThe flow Q of the outlet of the working cavity is controlled by controlling the opening of the adjustable throttle valve (17)out；
Step 5, continuously monitoring vehicle information in the braking process, and when the running vehicle speed is smaller than the target vehicle speed, switching the hydraulic auxiliary system into a constant-speed running working condition to maintain the target vehicle speed to run into a constant-speed mode;
in step 5, the constant speed mode is:
mode4, based on the constant deceleration Mode of the target vehicle speed, the brake gear switch sets different gears corresponding to different target vehicle speeds vdAfter deceleration braking, vehicle speed va≤vdWhen the vehicle starts a constant speed control strategy, the ECU controller adopts a control strategy of continuously increasing or decreasing the liquid filling rate to adjust the braking torque of the hydraulic auxiliary braking system, and dynamically outputs an air pressure control signal (6) and a flow adjusting signal (19) to control the air pressure PairAnd the correlation with the outlet throttle area d to control the increase and decrease of the liquid filling rate, further control the liquid filling rate to a target, adjust the vehicle speed, and control the balance of the braking torque of the auxiliary system and the liquid filling rate as follows:
ma＝mgsinθ-FR-Flx-Tr＝0
Figure FDA0003367045040000052
Figure FDA0003367045040000051
wherein q is0To the current fill rate, qdIs a target vehicle speed vdCorresponding target fill rate.
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